They are pretty much interchangable. Best look at an online dictionary to see any slight differences between the two.
"Drivel" is perhaps used slightly more to describe talk, or words, e.g. "Stop talking drivel"/"That book is 312 pages of drivel", whereas "rubbish" is a slightly broader derogatory term. But the distinction is slight, and "drivel" can be used in a variety of contexts. One